Full text of "USPTO Patents Application 09864891"

See other formats

per

WORLD INTELLECTUAL PROPERTY ORGANIZATION

International Bureau

INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCI)

(51) International Patent Classification $ :

G01N 35/00, 35/02

(11) International Publication Number:
(43) International Publication Date:

WO 90/08326

26 July 1990 (26.07.90)

(21) International Application Number: PCT/US90/00065

(22) International filing Date: 3 January 1990 (03.01.90)

(30) Priority data:
295,498

10 January 1989 (10.01.89) US

(71) A»lkaat: MEDICAL ROBOTICS, INC. [US/USJ; 125

Tfcade Street, Lexington, KY 40510 (US).

(72) Inventor: CLOYD, William, C. ; 4388 Fort Springs Road,

Lexington, KY 40513 (US).

(74) Agent: KING, J., Ralph ; King and Schicfcli, 3070 Harrods-
burg Road, Suite 210, Lexington, KY 40503 (US).

(81) Designated States: AT (European patent), BE (European
patent), CA, CH (European patent), DE (European pa-
tent), DK (European patent), ES (European patent), FR
(European patent), GB (European patent), IT (European
patent), JP, LU (European patent), NL (European pa-
tent), SE (European patent).

Pnbliined

With international search report

(54) Title: ROBOTIC LIQUID SAMPLING SYSTEM AND METHOD

(57) Abstract

A sampling system and method especially adapted
for blood is provided wherein a plurality of sample tubes
(12) are positioned for ready access on a support wheel (10)1
Ihe blood is processed by robotics (22) under the control of
a microprocessor (27) that includes indexing of the wheel,
identifying the container and indicating the condition of the
blood. Signals can be obtained in the processing system, the
information maintained matched to the sample and ana-
lyzed, and data generated and stored without human inter-
vention. To obtain the serum separation, the support wheel
Is placed in a centrifuge before the processing steps. The
sample tubes (12) are removably positioned between adja-
cent radial (15, 16) arms on the wheel and are pivotal in a
pendulum fashion to allow the centrifuge operation. The
.wheel can be robotically.picked up and moved to and from
ihe centrifuge or storage positions.

TOkKROPRO&SSOf 27

BEST AVAILABLE COPY

t .tit. ThS £

■» .

FOR THE PURPOSES OF INFORMATION ONLY

Codes used to identify States party to the PCT on the front pages of pamphlets publishing international
applications under the PCT. *

Aostm

Spam

Madagascar

Aotfrala

Fnhnd

Barbados

France

Mauritania

Befcann

Gabon

Makwi

Burkaia Faao

United Kingdom

Netherlands

Bufcaria

. HU

Hungary

Norway

Benin

Italy

Romania

Brazil

Japan

Sudan

Canada

Democratic People 1 ! Republic

S£

Sweden

Central African Republic

of Korea

Senegal

Congo

Republic of Korea

Soviet Union

Switzerland

Liechtenstein

Chad

Cameroon

Sri Lanka

Togo

Germany, Federal Repufafic of

Iicccmbourg

United States of America

Denmart .

Monaco

WO 90/08326

PCIYUS90/00065

-1-

R0B0TIC LIQUID SAMPLING SYSTEM AND METHOD

Background of the Invention

The present invention relates to liquid
handling and analyzing, and more particularly/ to an
apparatus and method for processing blood samples
5 including scanning and separating the samples without
human intervention*

The modern clinical pathology lab of today
includes several machines to accurately analyze blood
samples for a wide range of characteristics and

10 diseases. Recently, with the development of

microprocessing equipment, more and more of the blood
analysis can be quickly and accurately performed by
automation. Electronic equipment cabbie of analyzing
the condition of blood that was not even dreamed

15 possible just a few years ago, such as analysis of

cholesterol in the blood, is available on a wide scale.
Other photo-analyzers for blood and its components have
been developed and refined where they are now standard
equipment in the laboratory. Analyzing techniques for

20 viruses and other foreign bodies in the blood are
rapidly advancing also.

While the analyzers per se have thus advanced

WO 90/08326

PCT/US90/00065

I HI

-2-

rapidly in the past few years, the system for handling
the blood samples in the sample tubes has remained
substantially unchanged. The blood samples are
generally taken by drawing directly from the patient
5 into a pre-evacuated tube. A needle extending from the
heavy rubber stopper of the tube is injected into a
vein of the patient and the blood flows through the
needle and into the tube due to ambient pressure* The
sample tube is then manually labeled and transferred by

10 a carrier to the centrifuge in another portion of the
laboratory ~ At the centrifuge r the technician removes
the sample tube from the carrier and places it into the
centrifuge along with other samples (or sample tubes of
water to balance the centrifuge).

15 The centrifuge is operative to separate the

blood cells from the serum. This allows the
pathologist and others to more efficiently study the
blood sample* The standard practice is to remove the
sample tube with the separated blood cells/serum and

20 once again place the tube in another holder or rack

whereimo^ . a fch£ sssyrum is aspir.ate<l .from JtJ>e. upper portion
. of tiv^ . ,tyab^ . -'Cbe aspiration step is usually performed
manually. From this point, the sample tube along with
the sample cups in which the serum has been placed must

25 be tagged and are analyzed by machine, or visually by
the pathologist or other technicians.

Throughout the process of manual handling of
the sample tubes/cups, described above, the personnel
are exposed to the potential of coming into contact

30 with the blood. If a sample tube or cup breaks , the
blood of the sample can inadvertently splash in the

WO 90/08326

PCT/US90/00065

-3-

eyes or other' cavity of the testing personnel. With
the discovery of the AIDS virus , this contingency can •
even be deadly.

In addition to the risk involved in the
5 manual handling of the blood, the cost of human

intervention is substantial. Even more so today with
the spreading of the AIDS virus, the personnel must be
more highly trained and paid than before. The cost to
the laboratory, and eventually to the general public,

10 is becoming a major concern of the health industry.

Thus, a need is identified for a different
approach to processing of blood samples, or broadly
other dangerous liquids, where human intervention is
minimized. The cost in paying humans to perform the

15 handling/analyzing steps has simply become too great
and the risk to human life is also not tolerable.

Summary of the Invention

Accordingly, it is a primary object of the
present invention to provide an apparatus and method of
20 handling blood, or other- hazardous liquids, while

overcoming the above disadvantages* and problems of the
prior art.

It is another object of the present invention
to provide a liquid sample processing system wherein
25 the apparatus and the steps are performed by robotics
controlled by a computer that is effective for
analyzing and storing data indicative of the liquid
condition .

It is still another object of the present
30 invention to provide a processing system for liquids

WO 90/08326

PCTAJS90/0006S

-4-

wherein a support for a plurality of sample tubes is
provided in the form of a portable wheel that can serve
as a bulk carrier for the tubes during centrifuging and
processing, all by robotic control.

It is also an object of the present invention
to provide an apparatus and related method wherein the
samples within the tubes can be scanned, aspirated and
transferred to sample cups, as well as other
processing, without the need for exposure to humans.

It is a further object of the present
invention to provide a wheel having support arms upon
which tube holding units can be easily placed and by
pendulum action allow centrifuging and at the same time
analyzing without being removed from the wheel.

It is still a further object of the present
invention to provide a tube holding unit for use with a
support wheel or the like, wherein sample cups can be
held adjacent the tube throughout the entire processing
operation.

It is still a further object of the present
Invention to provide; tu^-holding unit for a sample
tube and sample cups with a provision for mounting on a
pendulum, between the two.

Additional objects, advantages and other
25 novel features of the invention will be set forth in
part in the description that follows and in part will
become apparent to those skilled in the art upon
examination of the following or may be learned with the
practice of the invention. The objects and advantages
of the invention may be realized and attained by means
of the instrumentalities and combinations particularly

WO 90/08326

PCT/US90/00065

-5-

pointed out in the appended claims.

To achieve the foregoing and other objects,
and in accordance with the purposes of the present
invention as described herein, an improved apparatus
5 and method is provided for processing liquids, such as
blood, to determine the characteristic or composition
thereof. The processing system includes a support
means that holds a plurality of sample containers for
easy access. An index means is provided for the
10 support means so that a selected container can be
positioned at a sampling station upon command. A
robotic processor at the sampling station is operative
to process the liquid sample and corresponding signal
generating means identifies the container and indicates
15 the condition of the liquid being processed. A

computer is provided for analyzing and storing data in
response to. the signals with the end result being that
the liquid may be analyzed and data generated and
stored without human intervention. Although the
20 preferred embodiment will be described hereinafter as
relating to blood, it should be realized by those
skilled in the art that other hazardous sample liquids,
such as radioactive liquids, can be advantageously
processed by the system of the present invention.
25 The related method comprises the steps of

supporting the containers for indexed access at a
sampling station, indexing the containers to the
sampling station, processing the sample, generating a
signal to identify the container and the condition of
30 the liquid, and analyzing/storing of the data from the
signals generated. By practicing the method, the

WO 90/08326 PCT/US90/00065

-6-

liquid, such as contaminated blood, may be analyzed and
corresponding data generated and stored without human
intervention, and, thus, without human risk.

The computer means of the system preferably
5 includes a microprocessor, a keyboard or the like for
programming the microprocessor and memory or data
storage means. Scanners are provided to generate the
signals and an indexing means, such as a stepping
motor, can be used for. the movement of. the support

10 means r as well as for all robotic actuators required

for the system. A feedback is provided to provide the-
microprocessor with position information on a
continuous basis.

Preferably, the containers comprise sample

15 tubes and the . tubes are supported on a wheel having a
plurality of radial support arms. The tubes are held
in holding units removably positioned between tfxe
adjacent arms. The central hub of the wheel has an
annular shoulder that allows robotic transfer of the

20 wheel to and from the centrifuge and/or other storage
locations.

* i-r.v : Eacfe t*abe holding unit includes a body a*id .* %
retainer rings for the tube. In addition, in
accordance with the present invention, each tube

25 holding unit has a laterally extending receiver for

sample cups. The sample cups are operative to receive
a portion of the liquid from the sample tube. Due to
the integral design of the holding unit, all of the
component parts are advantageously kept together with

30 the present invention. Preferably, there are two cups
associated with each tube and the cups are positioned

WO 90/08326

PCT/US90/00065

-7-

substantially parallel to the sample tube in the space
between the adjacent arms of the wheel.

Each holding unit is supported by a pendulum
support bar including a detent for retaining the
holding unit in the upright position. Because of the
pendulum or pivoting action, the tubes and sample cups
can swing outwardly during the centrifuge operation
utilizing the wheel. The pendulum bar is received xn a
recess between the sample tube and the sample cups
The detent is preferably a bar magnet on the pendulum
support bar cooperating with disc magnets having .
opposite poles on the adjacent arms. An over travel
pin may be provided on the support bar to cooperate
with a recess on the support arms. A concave reflector
' is provided on the tube holding unit so that photo
energy transmitted through the tube can be reflected
back for scanning in an improved fashion.

The process means in accordance with the
present invention includes a novel processing head that
mounts at least one aspirator for robotically entering
and removing at least a portion of the liquid from the
container, such as the separated serum of centrifuge*
blood. The aspirator (s) are mounted on a robotically
controlled telescoping portion, and enter and withdraw
from the tube under robotic control.

A robotic arm is provided in accordance with
the invention to pick up the wheel for transfer by
means of opposed clamps. The clamps engage an annular
shoulder on the hub. The wheel serves as a bulk
storage unit so that the entire processing operation
can be carried out at more than one position.

WO 90/08326 PCT/US90/00065

-8-

In order to identify the sample being,
processed at the sampling station, the distal ends of
the arms may be provided with a code indicia that is
read by the position scanner. The microprocessor is
S provided with the appropriate information and controls
the robotic actuators under exact control.

Still other objects of the present invention
will become readily apparent to those skilled in this
art from the following description wherein there is

10 shown and described a preferred embodiment of this

invention, simply by way of illustration of one of the
modes best suited to carry out the invention. As it
will be realized, the invention is capable of other
different embodiments, and its several details are

15 capable of modifications in various, obvious aspects

all without departing from the invention. Accordingly,
the drawings and descriptions will be regarded as
illustrative in nature and not as restrictive.

Brief Description of the Drawings

The accompanying drawings incorporated^ ip. and
forming a part of the specification, .illustrates several
aspects of the present invention, and together with the
description serve to explain the principles of the
invention. In the drawings:
25 Figure 1 is a perspective view of the support

wheel, of the sample processing system of the present
invention, with all but one tube holding unit being
removed for clarity of illustration;

Figure 1A is a perspective view of a typical
console upon which the support wheel of the present

WO 90/08326

PCT/US90/00065

-9-

invention can-be utilized, along with a schematic block
diagram of the processing system circuitry of the
present invention;

Figure 2 is a cross-sectional view taken
5 along a line adjacent the tube holding unit with the
pick-up head for the support wheel being shown broken
away and with the actuator illustrated schematically;

Figure 3 is an exploded side view of the tube
holding unit with the sample tube and sample cups
10 illustrated to show their positioning and a cutaway

portion of the distal end of the mounting support arm
including the pendulum support bar;

Figure 4A is a sectional view of the distal
end of the support arm adjacent the tube holding unit
15 showing the unit in the 90° pivoted mode during
centrif uging ;

Figure 4B is a cross-sectional view taken
along the distal end of the arm adjacent the tube
holding unit showing the position of aspirators for the
20 aspirating step of the procedure with the indexable
turntable in position to support the holding unit;

Figure 4C is a cross-sectional view of the
distal end of the arm adjacent the holding unit similar
to Figure 4B but showing the scanning operation for
25 locating the air/serum interface , fibrin or protein
string and the serum/cell interface; and

Figure 5 is a cross-sectional view taken
along line 5-5 of Figure 3 and showing the concave
reflector behind the tube.
30 Reference will now be made in detail to the

present preferred embodiment of the invention, an

WO 90/08326

PCT/US90/00065

urn.

-10-

example of which is illustrated in the accompanying
drawings •

Detailed Description of the Invention

With reference now to Figure 1 of the
5 drawings, a support wheel 10 is illustrated without
being positioned in any associated equipment. An
important aspect of the present invention is that the
wheel 10 is portable and serves as a bulk storage
device for a plurality of tube holding units 11 (only

10 one shown in Figure 1)- The tube holding unit 11 will
be described in greater detail below, but at the
present time suffice it to say that a sample tube 12
along with one or two sample cups 13, 14 are positioned
between adjacent radial support arms 15, 16 of the tube

15 handling wheel 10. While in the preferred embodiment
the sample tube 12 will be described as holding blood
as the liquid, it is apparent that other dangerous
liquids can be held and processed in accordance with
the broader aspects of the present invention.

20 As also shown in figure I; tt4:.r3fl*iea2ffs*'-.<v

15, 16 are supported 6h -a hiai* 17 • " K'*&e&ttZi;X*ilpg&£u£'& ~s
18 is provided to receive the drive shaft of a
centrifuge and the locating shaft of an indexible
turntable, as will be apparent from the description

25 below.

In Figure 1A, the tube handling wheel 10 of .
the present invention is illustrated at a center
inspection and serum transfer position of a console C.
Similar handling wheels may be positioned at one or two
30 other locations on the console C, such as the wheels

WO 90/08326

PCT/US90/00065

-11-

10a/ 10b. As illustrated, the wheels 10a, 10b
preferably undergo centrifuging when positioned in
these auxiliary positions. Thus, centrifuge operations
can proceed concurrently with the inspection and serum
5 transfer at the wheel 10 in the central position. A
processing head 20, including a telescoping portion 21,
carries the processing and analyzing transducers, which
will be described in more detail below. Above the
processing head 20 is a robotic arm 22 including a

10 pick-up head assembly 23 that is operative to pick up

and transfer the wheel 10 from the centrifuge positions
of the wheels 10a, 10b to the central inspection and
serum transfer position, and then to other processing
or storage locations .

15 A control circuit 25 is illustrated in Figure

1A with dashed line illustration of connections to the
wheel 10, the processing head 20 with the telescoping
portion 21, the robotic arm 22 and the pick-up head 23.
Compositely, robotic actuators 26 carry out the

20 necessary movement of these components, as will be
cleax. as thfi detailed description progresses.

The heart of the control circuit 25 is a
microprocessor 27, which may be one of several

* *

available commonly used as a component of programmable
25 index controllers available as off-the-shelf items. An
input means 28 may be a keyboard or similar device for
programming the microprocessor to carry out the
sampling operations. Data storage and memory 29 is
provided to maintain the information regarding each
30 individual sample tube 12 and sample cups 13, 14, which
information carries through the entire process for the

WO 90/08326

PCT/US90/00065

-12-

blood analysis.

A wheel index means 30 is shown schematically
and is connected to step the wheel 10 in accordance
with the program of the microprocessor 27 . A
mechanical drive, such as a Geneva mechanism with a DC
motor, or an electrical stepping motor, are good
choices for this index means. A feedback 31 may be
provided to keep the microprocessor 27 constantly
updated as to the position of the wheel 10, as well as
the position of each of the robotic actuators 26. A
pair of transducers in the form of scanners, such as a
wheel position scanner 32 (see Figure 1) and a serum
scanner 33 are provided and are representative of the
control and sampling transducers that may be provided
15 to properly operate the control circuit 25. The

position scanner 32 can be responsive to a bar code
label 34 on one or more of the arms 15, 16 (only one
shown in Figure 1 on arm 16). The label 34 assures
that the microprocessor 27 is inputted with the data
for the proper sample tube :*T2 'as . gk&n sample is taken.
Similarly; each'Wpie

own bar code -label 35 or similar indicia in order to
maintain the integrity of the sampling system. The
scanner 32 may be programmed to constantly confirm and
25 update information in the microprocessor 27 and the

data storage and memory unit 29 from the labels 34, 35.

From the detailed description so far, it can
be realized that an advantageous result of the present
invention lies in being able to rapidly and accurately
process a large number of blood samples without human
intervention. The tube holding units 11 are positioned

13-

around the full periphery of the wheel 10 and the blood
samples are first centrifuged (see wheels 10a, 10b).
The wheel being portable, is transferred readily from
the centrifuge positions to the central processing
position under robotic control. Each tube holding unit
10 is then indexed in turn to the sampling station (see
Figure 1A and compare the uppermost position of Figure
1). The signals generated by the scanners 32, 33 and
others are utilized in the computer circuit 25 to
provide full analysis and data storage for the sampling
process.

Moving now to a more detailed description of
the tube handling wheel 10, reference is made to Figure
2 wherein the arms 15, 16 are depicted in
cross-sectional view. The hub 17 is also shown in
cross-section with the central drive and positioning
aperture 18 also illustrated. Within the aperture 18
is a key 35 designed to receive a slot in the top
portion of a drive shaft of a centrifuge means 36 (see
Figure 4A) .

As will' be clear from viewing Figure 4A, the
centrifuge 36 causes the tube holder 11 to tilt and the
tube 12, as well as the cups 13, 14 to assume a
substantially horizontal position. An important
feature of the present invention is that the wheel can
serve as a bulk holder and storage device for the
multiple tube holders 11 without having to transfer the
holders between the time of centrifuging and the time

of sampling.

To make the transfer of the wheel 10, the
pick-up head 23 on the robotic arm 22 includes a clamp

WO 90/08326 PCT/US90/00065

-14-

assembly comprising a pair of clamps 23a, 23b ^ The
pick-up head 23 is adapted for engagement with an
annular shoulder 37 to allow firm gripping' and transfer
of the wheel 10. The hub 17. further includes through
bolts 38 and locking pins 39 in order to provide a
rugged structure for the action that occurs in the
centrifuge means 36.

In the sampling position for inspection and
serum transfer, as shown in Figure 1A, the wheel 10 *
sits on an indexible turntable 40 , shown in dashed line
outline in Figure 2. A central locating shaft 41 is
seated in the aperture 18 during the processing period.
The shaft 41 is slotted to also receive the key 35 to
facilitate accurate driving by the wheel index 30.
15 As best shown in Figures 1-3, the sample tube

12, as well as the sample cups 13, 14 have caps 12a,
13a, 14a, respectively. These caps seal each of these
containers and do not allow escape of any of the blood.
As previously described, the tube 12 is a standard tube
20 that has been evacuated and then filled with blood from,
a patienii-^-'j&Ecing/ cfiPthe: M^od^-itreo /the= tube by -
ambient pressure. In order to facilitate entry into
the cups 13, 14 one or more can be provided with a star
slit cap, as shown as the cap 13a.
25 The tube is inserted into the holding unit 11

by extending it through spaced retainer rings 45, 46,
and so as to rest on the lower platform 47. The tube
holding unit 11 further comprises a central body 48
having opposed indentations 49 at the top thereof.
. 30 These indentations are designed to receive opposed

fingers of a robotic manipulator (not shown) that can

WO 90/08326

PCT/US90/00065

-15-

actually load- and unload the individual holding units
11.

As best shown in Figure 3, a recess 50 is
positioned in the body 48. On the opposite side of the
5 recess from the tube 12 is a lateral cup receiver 51
for the sample cups 13, 14. Openings 52 in an upper
web 53 retain the sample cups in position (see Figure
3). A middle web 54 is designed to help assure
retention of the cups 13, 14 in the receiver 51. The

10 openings 52 may also be slit around their periphery
(not shown) to increase the holding force.

A lower web 55 of the retainer 51 is adapted
to set flush on the top of the indexible turntable (see
Figure 2). This mounting assures that the tube -holding

15 unit 11 is stabilized during the processing within the
central station of the console C (see Figure 1A).

A pendulum support bar 60 serves to pivotally
attach the tube holding unit 11 to the arms 15, 16. In
the exploded view of Figure 3, an extension 61 can be

20 seen to mate with the recess 50. The Figure 4B

position illustrates the manner in which the tube
holding unit 11 sits down on the support bar 60. A
pivot pin 62 just below the extension 61 extends on
both sides of the bar 60 and fits in cooperating slots

25 63 in adjacent support arms 15, 16. A bar magnet 64

also extends across the support bar 60 and cooperating
disc magnets 65 with opposite poles exposed to the ends
of the bar magnet 64 serve to form a detent to maintain
the support bar 60 and the tube holding unit 11 in the

30 upright position (see Figure 4B). Also included is an
over travel pin 66 that cooperates with a recess 67, as

WO 90/08326

PCT/US90/00065

-16-

illustrated.

The Figure 4A illustration depicts the tube
holding unit 11 in the centrifuge position upon
operation of the centrifuge means 36, as briefly
described above- Advantageously , the pendulum support
bar 60 allows the entire unit including the tube 12 and
cups 13 , 14 to pivot in unison. During the
centrifuging operation, the cells of the blood are
forced by strong centrifugal force into the bottom of
the tube leaving the top of the tube filled with the
lighter serum (see serum S dn Figure 4B).

It will be remembered that the position of
the tube holding unit 11 of Figure 4B is where the
wheel 10 is transferred from one of the side centrifuge
15 positions and is seated on the turntable 40 for

sampling. In the preferred embodiment, an aspirating
needle 70 pierces the cap 12a of the tube 12, and
extends down to approximately the middle part of the
tube where the dividing line between the serum and
cells is located. The objective is to allow withdrawal
of approximately 90% of the serum by the needle 70.

Aspirator 71, to which the needle 70 is
attached, is within the telescoping* portion 21 of -the
processing head 20. Once the serum S is withdrawn, the
25 robotic actuators 26 controlling the telescoping'

portion 21 move the aspirator 71 to deposit the serum,
as desired, such as in the sample cups 13, 14 (see
aspirators 71a and 71b (Figure 4B)). m this manner, *
the separated serum is assured of being maintained with
the original blood sample tube 12, and the integrity of
the processing system is thus maintained.

WO 90/08326 PCT/US90/00065

-17-
Th e processing head 20 is designed to also
house the other scanners or transducers , such as the
serum scanner 32 (see Figure 4C, in addition to Figure
1). The serum S in the tube 12 can be photoscanned for
5 fibrin, that is, protein string, before the serum is
aspirated. This scanning operation occurs at the

sampling station, or one station upstream, if desired,
so long as the microprocessor 27 is programmed to
coordinate the data.

10 The body 48 of the tube holder 11 includes a

concave reflective surface 75 (see Figure 5). During
the photoscanning of the serum S, this surface 75
serves an important function of reflecting maximum
light to provide the improved signal to the scanner 32.

15 In this way, an accurate reading of the fibrin is
assured.

In summary, a sample processing system
particularly adapted for blood, but usable with other
liquids that may be hazardous, is provided wherein a

20 tube handling wheel 10 serves as a bulk storage device
for a plurality of tube holding units 11. The wheel 10
is transferable by a robotic arm 22 so as to be easily
positioned between inspection and centrifuge positions
(see Fig. 1A). A unique computer control circuit 25

25 provides all of the functions of the sampling system
without the need for human intervention. The liquid
may be fully analyzed and corresponding data generated
and stored in a manner heretofore not possible. The
individual tube holding units allow the tubes 12, as

30 well as sample cups 13, 14 to be centrifuged, as well
as sampled without ever becoming detached from each

WO 90/08326

PCT/US90/00065

-18-

other. A pendulum support bar 60 provides the
appropriate pendulum action for the tube holding unit
. 11 during centrif uging.

The preferred embodiment was chosen and
described to provide the best illustration of the
principles of the invention and its practical
application to thereby enable one of ordinary skill in
the art to utilize the invention in various embodiments^
and with vaxious modifications as are suited to the
particular use contemplated. All such modifications
and variations are within the scope of the invention as
determined by the appended claims when interpreted in
accordance with the breadth to which they are fairly,
legally and equitably entitled.

WO 90/08326 PCT/US90/00065

-19-

Claims

1. A sample processing system for liquids
comprising:

support means;

a plurality of sample containers for
5 liquid positioned for access on said support means;

index means for said support means for
positioning one of said containers at a sampling
station;

robotic process means at said station
10 for processing the liquid sample in each container;

signal generating means for identifying
the container at said station and indicating the
condition of said liquid; and

computer means for analyzing and storing
15 data in response to the signals from said signal

generating means, whereby the liquid may be analyzed
and corresponding data generated and stored without
human intervention.

2. A sample processing system for liquids
in accordance with Claiira 1 wherein said computer means
comprises a microprocessor, input means to program the

WO 90/08326

PCT/US90/00065

-20-

mil

microprocessor for controlling the sampling of the
5 liquid, and data storage means.

3. The sample processing system in
accordance with Claim l r wherein said support means
comprises:

a wheel having a plurality of radial

5 support armsr

a central support hub for positioning
the wheel for processing; and

container holding means removably
positioned between adjacent arms for receiving said
10 containers^

4. The sample processing system in
accordance with Claim 3, wherein said wheel includes a
central hub; and

an annular shoulder on said hub to allow
5 pick-up of the wheel for transfer*

5. The sample processing system in
accordance with Claim 4, wherein is provided a pick-up
head for engagement with the annular shoulder on said
hub;

5 said pick-up head including clamp means

for engagement with the shoulder and retention during
transfer;

clamp actuating means for said clamps;

and

i0 said clamp actuator operating in

response to said computer means -

6. The sample processing system in
accordance with Claim 1, wherein said containers
comprise sample tubes; and

WO 90/08326

PCT/US90/00065

-21-

cap means for sealing said tubes*

7. The sample processing system in
accordance with Claim 6, wherein is further provided a
tube holding unit for each sample tube;

said tube holding unit including a body
5 and retaining means for said tube; and

. a lateral receiver extending from said
body for sample cups.

8. The sample processing system in
accordance with Claim 7, wherein said lateral cup
receiver includes at least two openings to receive and
retain said cups in position substantially parallel to

5 said sample tube.

9. The sample processing system in
accordance with Claim 8, wherein is provided a pendulum
support means positioned between said tube and said
cups and engaging the body of said tube holding unit;

5 pivot means for engaging said support

means to provide the pendulum action; and

detent means for retaining said pendulum
support means and said tube holding unit in the upright
position.

10. The sample processing system in
accordance with Claim 9, wherein said body of said tube
holding unit includes a recess positioned between said
sample tube and said sample cups;

5 said pendulum support means including a

support bar extending in the upright position when held
by said detent means;

an extension above said pivot means for
receipt in the recess to mount said tube holding unit;

WO 90/08326 PCT/US90/000«

-22-

10 and

slot means in said support means for
receiving the pivot means;

whereby said tube holding unit, sample
tube and sample cups may pivot about a horizontal axis
15 for centrifuging.

11. The sample processing system in
accordance with Claim 10, wherein said support means
includes a wheel having radia.1 support arms?

said tube holding unit being positioned
5 between two adjacent arms on said wheel?

the slot for receipt of said pivot means
being formed adjacent the outer radius of the arms; and

said lateral cup receiver being
positioned between the adjacent arms.

12. The sample processing system in
accordance with Claim 11, wherein said detent means
includes a bar magnet positioned on said pendulum
support bar; and

5 disc magnets having opposite poles

directed toward said bar magnet on adjacent "arms?*

whereby the magnet force provides an
attraction for said support bar when said tube holding
unit is in the upright position.

13* The sample processing system in
accordance with Claim 12, wherein is further provided
an over travel pin on said pendulum support bar; and

a recess on said support arms for
5 receiving said over travel pin when said pendulum
support bar is in the upright position.

14. The sample processing system in

WO 90/08326

PCT/US90/00065

-23-

accordance with Claim 7, wherein said tube holding unit
includes a concave reflector behind said tube;

whereby energy transmitted through the
5 tube is reflected back for improved scanning
efficiency.

15. The sample processing system in
accordance with Claim 1, wherein said process means
includes a processing head;

aspirating means in said head for
5 entering and removing at least a portion of said liquid
from said container.

16. The sample processing system in
accordance with Claim 15, wherein said containers
comprise sample tubes;

cap means for sealing said tubes;
5 a tube holder unit for each sample tube;

said tube holder including a body and
retaining means for said tube;

a laterally extending receiver extending
from said body for sample cups;
10 said aspirating means being operable to

enter and deliver a portion of the liquid removed to
said sample cups; .

whereby a transfer of liquid can be
effected without human intervention.

17. The sample processing system in
accordance with Claim 15 , wherein said processing head
further includes energy scanning means for analyzing at
least a portion of said liquid in said container.

18 . The sample processing system in
accordance with Claim 17, wherein- said liquid is blood;

WO 90/08326

PCT/US90/00065

-24-

said scanner means viewing the serum

portion of said blood after being centrifuged;

5 said scanner means being operative to

photoscan to determine the fibrin in said blood*

19. The sample processing system in

accordance with Claim 1, wherein said liquid is blood;

said support means comprising a wheel

that is operative for providing centrifuging of said

5 blood to separate the serum from the cells;

said containers comprising sample tubes;

a cap means for sealing said tubes;

a tube holder unit for each sample tube;

said tube holder including a body and

10 retaining means for said tube;

a laterally extending receiver extending

from said body for sample cups;

said lateral cup receiver includes at

least two openings to receive and retain said cups in

15 position substantially parallel to said sample tube?

a pendulum support means positioned

.:. - .-.-.» =ald &%^e? .

between said tube and said cups and engaging .the body

of said tube holding unit;

pivot means for engaging said support
20 means to provide the pendulum action; and

detent means for retaining said pendulum
support means and said tube holding unit in the upright
position;

said tube holding unit being operative

25 to pivot through approximately 90° for the centrifuge
position ;

whereby said tubes and the corresponding

WO 90/08326

PCT/US90/00065

iTHt

-25-

cups can be maintained together throughout processing
operation.

20. The sample processing system in
accordance with Claim 1/ wherein the liquid is blood;

said process means including serum
scanner means for determination of the fibrin in the
5 serum after centrifuging said blood; and

aspirating means for removing the serum
from the container after centrifuging for placement in
separate cups for further analysis;

said scanner means and said aspirating
10 means being controlled by said computer means.

21. The method of processing liquids
including the steps of:

supporting a plurality of containers for
indexed access at a sampling station;
5 indexing said containers in turn to said

sampling station;

processing the liquid sample at said

station;

generating. -a signal identifying the
10 container and the condition of the liquid being
processed; and

analyzing and storing the data from the
signals generated at the process station;

whereby the liquid may be analyzed and
15 corresponding data generated and stored without human
intervention .

22. The method of processing sample liquids
of Claim 21, wherein said liquid being processed is
blood;

WO 90/08326

PCT/US90/00065

-26-

centrif uging the blood prior to
5 processing the samples;

said processing including scanning of
said blood for fibrin.

23. The method of processing sample liquids
of Claim 22, wherein the processing further includes
aspirating the serum from said containers; and

transferring said serum to other
5 containers for further processing.

24. A support wheel for a sample processing
system for liquids comprising:

a central support hub for positioning
the wheel for processing;
5 a plurality of radial support arms; and

container holding means removably
positioned between adjacent arms for receiving said
containers .

25 . The wheel of the processing system of
Claim 24, wherein said containers comprise sample
tubes; and

cap means for .sealing said tubes

26. The wheel or the processing system of
Claim 25, wherein is further provided a tube holder
unit for each sample tube;

said tube holder unit including a body
5 and retaining means for said tube; and

a. laterally extending receiver extending
from said body for sample cups?

said receiver being positioned between
adjacent arms of said wheel.

27* A tube holding unit for a liquid

WO 90/08326

PCT/US90/00065

mil

-27-

processing system comprising:

a body;

retaining means' for said tube; and
5 a laterally extending receiver extending

from said body for sample cups.

28. The tube holding unit for a liquid
processing system of Claim 27, wherein said lateral cup
receiver includes at least two openings to receive and
retain said cups in position substantially parallel to

5 said sample tube.

29. The tube holding unit for a liquid
processing system of Claim 28 f wherein is provided a
recess positioned between said sample tube and said
sample cups to receive a pendulum support means for

5 said holding unit;

said lateral cup receiver including a
plurality of horizontally extending webs# the uppermost
web including the openings for said sample cups;

the lowermost web of said receiver being
10 operative to securely support the tube holding unit on
a surface du:iug processing of said liquid.

30. The tube holding unit for a liquid
processing system of Claim 27 f wherein is further
provided :

a concave reflector positioned behind

5 said tube;

whereby energy transmitted through the
tube is reflected back for improved scanning
efficiency.

WO 90/08326

PCT/US90/00065

3tf

TO MICROPROCESSOR 27

1/2

INSPECTION i
SERUM TRANSFER

CENTRIFUGE

WO 90/08326

PCT/US90/00065

2/2

26-

ACTUATORS):

TO MICROPROCESSOR 27

.I2A

5 ... 13

TO WHEEL INDEX 30

12 CENTRIFUGE
\ m POS IT/ON

fhn

CENTRIFUGE
MEANS

15, t 6

INTERNATIONAL SEARCH REPORT

InMrnatlonil Application No PCT/US 90/00065

1. CLASSIFICATION OF SUBJECT MATTER 01 eeveral claaaification tymbeli apply, indicate all) *

According to International Pat in t Claaaification (IPC) or to both National Clasaification and IPC

IPCS: G 01 N 35/00, 35/02

It. FIELDS SEARCHED

Minimum Documentation Starched '

Claaaification Syltem

Claaaification Symaola

IPC5

G 01 N

Documentation Searched other than Minimum Documentation
to the Extent that euch Document! ere Included In the Field e Searched *

111. DOCUMENTS CONSIDERED TO SI RELEVANT •

Category *

Citation ot Document, 11 with Indication, where appropriate, of the relevant paeeagee 11

Relevent to Claim No. 11

EP, Al, 0231430 (KABUSHIKI KAISHA NITTEC)
12 August 1987,
see the whole document

EP, A2, 0287900 (ABBOTT LABORATORIES)
26 October 1988,
see the whole document

EP, Al, 0289789 (JAPAN TECRON INSTRUMENTS
CORPORATION) 9 November 1988,
see the whole document

* Special cat ego rite of cited document a: «

"A" document defining the general atete of the art which re net
con tide red to be of particular relevance

*E* earlier document but published on or attar the International
filing data

**L" document which may throw doufate on priority ctalm(e) or
which la cited to eetabbeti the publication date of another
citation or other special reaeon (*» epecifled)

-O" document referring to an oral diecloeure, uae, exhibition or
other mean*

"P w document pubUahed prior to the International filing data but
later then the priority date claimed

T" later document publiehed after the International tiling date
or priority data and not In conflict with the application but
cited to understand the principle or theory underlying the
Invention

"X" document of particular relevance: the claimed Intention
cannot be considered novel er cannot ba considered to
Involve an inventive step

"Y" document of particular relevance; the claimed Invention
cannot be considered to Involve an Inventive etep when the
document ia combined with one er mora other euch docu-
ments, such combination being obvious to a osteon stilled
In the art.

"A" document member of the asms patent family

IV. CERTIFICATION

Date ot the Actual Completion of the International Search

3rd April 1990

Date of Melting of this International Search Report

2 .3 APR 1990

International SeerchtnQ Authority

EUROPEAN PATENT OFFICE

Slgneture of Authorised Officer

-^f^ Mme M KU1PER

Form PCT/IS A/210 faecond sheet) (January 19*S>

fafemtil.n.1 Application No. PCT/[JS 90 /00065

HI. DOCUMENTS CONSIDERED TO BE RELEVANT (COMTIMUIO FROM THt SECOND SHUT)

Cattgory « I Cttttoo ot Document, with mdiciOon. whsrt approprtatt. of Om rvtevsm puuow

1 fttl«vsnt to Cf*fm No

EP, A2 t 0293624 (ABBOTT LABORATORIES)
7 December 1988,
see the Whole document

i
i

l .

■

•

Form P CMS A/210 (trtra ihMt) (JsmivylMS)

ANNEX TO THE INTERNATIONAL SEARCH REPORT _-_.„. _„ tnnn „
ON INTERNATIONAL PATENT APPLICATION NO. PCT/US 90/00065

33710

This annex Ikts the patent family mcmtwrs rriatmg to the patent dotuiM'nl* eitrd In the atrnvfr-mnOnnetf fmcmatienal search report.

The inu u hu* are as contained in the European Patent Office F.UP file on 28/02/90

The F-nropean Patent Office is in no way Kahle for these particular* which are merely Riven for the purpose of Information.

Patent document
cited in search report

Ptthlkttiftn
date

Patent famBy.
mctnher(s)

PDhlieariw
dale

EP-Al- 0231430

12/08/87

US-A-
JP-A-

4731225
62217255

15/03/88

24/09/87

EP-A2- 0287900

26/10/88

AU-D-
JP-A-

1474488
63281048

27/10/88
17/11/88

EP-Al- 0289789

09/11/88

JP-A-

63248451

14/10/88

EP-A2- 0293624

07/12/88

AU-D-
JP-A-
US-A-

1562288
63292064
4855110

10/11/88
29/11/88
08/08/89

For more drtaik a hoot this annex : see Official Journal of the Forencnn Patent Office, No. 12/82

This Page is Inserted by IFW Indexing and Scanning
Operations and is not part of the Official Record

BEST AVAILABLE IMAGES

Defective images within this document are accurate representations of the original
documents submitted by the applicant.

Defects in the images include but are not limited to the items checked:

□ BLACK BORDERS

□ IMAGE CUT OFF AT TOP, BOTTOM OR SIDES

□ FADED TEXT OR DRAWING

□ BLURRED OR ILLEGIBLE TEXT OR DRAWING

□ SKEWED/SLANTED IMAGES

□ COLOR OR BLACK AND WHITE PHOTOGRAPHS

□ GRAY SCALE DOCUMENTS

□ LINES OR MARKS ON ORIGINAL DOCUMENT

□ REFERENCE(S) OR EXHIBIT(S) SUBMITTED ARE POOR QUALITY

□ OTHER:

IMAGES ARE BEST AVAILABLE COPY.
As rescanning these documents will not correct the image
problems checked, please do not report these problems to
the IFW Image Problem Mailbox.

Internet Archive Audio

Featured

Top

Images

Featured

Top

Software

Featured

Top

Books

Featured

Top

Video

Featured

Top

Mobile Apps

Browser Extensions

Archive-It Subscription

Save Page Now

Full text of "USPTO Patents Application 09864891"

See other formats